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Main parts of da Vinci surgical system - Coggle Diagram
Main parts of da Vinci surgical system
Slave design
Actuated arms
limited stiffness
EndoWrist instruments
sophisticated forceps
cable tension(cable - pulleys transmission)
rough payload capabilities
complex
expensive
lengthy arms( kinematic errors amplification)
limited stiffness
no tensioner
high mechanical complexity
insufficient accuracy
Passive Arms
heavy bulky system
not mechanically secured system
Control - unit
Computer
undisclosed specifications
a power supply
3D image processor
Monopolar diathermy circuitry
Force and Haptic feedbacks
lack of force-torque sensor
Master control
Foot pedals
no handle wrist rotation
Handles
no usage of kinematic input
Control touch screen